Package Summary

This stack keeps all the packages from UT AustinVilla in the efforts towards the RoboCup Competition. Currently it contains a color table generation tool, along with a ground truth detection system using the Kinect that can be used for Nao robot.

Author: Maintained by Piyush Khandelwal
License: BSD
Source: svn https://utexas-ros-pkg.googlecode.com/svn/trunk

ROS packages for work done by the Austinvilla Robot Soccer Team at the University of Texas at Austin.

Overview

This stack currently contains the code to run a ground truth system specifically designed for the Standard Platform League (SPL) in Robocup robot soccer competition. Details are available in the paper below.

A Low Cost Ground Truth Detection System Using the Kinect. Piyush Khandelwal and Peter Stone. In Thomas Roefer, Norbert Michael Mayer, Jesus Savage, and Uluc Saranli, editors, RoboCup-2011: Robot Soccer World Cup XV, Lecture Notes in Artificial Intelligence, Springer Verlag, Berlin, 2012. To appear. Details BibTeX Download: pdf ps

Installation

1. Install ROS Diamondback. Follow the instructions here. The desktop-full install is required.

2. Install the following additional packages.

sudo apt-get install ros-diamondback-perception-pcl-addons ros-diamondback-openni-kinect

3. color_table has a dependency on the eros stack. This package is currently available from source. The installation instructions are summarized below.

cd
mkdir kinect-stuff
cd ~/kinect-stuff
svn co https://code.ros.org/svn/eros/tags/diamondback eros

4. Download the source code for the austinvilla stack

cd ~/kinect-stuff
svn co https://utexas-ros-pkg.googlecode.com/svn/trunk/stacks/austinvilla austinvilla

5. You will need to update your ~/.bashrc file with the locations of these 2 stacks. Add these lines after the original line added during the ROS installation

source /opt/ros/diamondback/setup.bash
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/kinect-stuff/eros:~/kinect-stuff/austinvilla

Remember to call source ~/.bashrc for ros to index the stacks in the current terminal window.

6. If the installation has been successful, you should be able to build the packages. First install any remaining system dependencies, and then call rosmake.

rosdep install austinvilla
rosmake austinvilla

Report a Bug

Please email any bug reports to <piyushk AT cs DOT utexas DOT edu>